Merging_Technology_UI2009_rr

Merging Technologies

Jan SiesjöMarch 4 2009UI 2009

Creating the Double EagleSAROV a hybrid AUV/ROV

HistoryIt all started 100 years ago

1910 – First Swedish developed torpedo

1976 – Saab built an advanced WROV

1981 – SUTEC is formed

1985 – First 360° maneuverability ROV

1989 – First AUV delivered

1991 – Saab acquires SUTEC

1993 – First survey ROV system with autopilot demonstrated

2003 – Double Eagle MkIII 6+ knots survey ROV

2007 – Seaeye Acquired

2008 – Double EagleSAROV

Hybrid AUV/ROV

SAAB UNDERWATER SYSTEMSThe vehicles is equipped with an unique 360 degrees control system enabling the vehicle to operate in any direction, noseup or down or anything between, even totally upside down under full control and with very good stability

SUBROV

Long endurance search and survey operations

60+ Operational systems worldwide

Fixed or Mobile installations

AUV Development

Torpedo shaped long range survey AUV

First sea trial December 2000

Equipped with profiler and SAS sonar

Development of terrain navigation

Observation Class (eyeball)

Inspection Class

(e.g. Diver Support, Search & Salvage, NDT Inspection)

Survey Vehicles

(e.g. Pipeline Survey)

Work Vehicles

(e.g. Drill Support, IRM, Submarine Rescue)

Seaeye Electric ROV System Types & Applications

JAGUAR

Development strategyEvolutionary

• ROVs• AUVs• Torpedo Homing• INS • Terrain Navigation System• Auto Piloting System• DP Systems• UPS• SAS Technology• Sensor Signal Processing• Hydro Dynamical Design• Obstacle Avoidance System• Modern Battery Technology• Mission Planning Tools

• Behaviour based autonomy• Sonar Navigation• Underwater Docking

System• Buoyancy System• Surface Communication• Underwater Communication• 360° Control System • Intervention Tools• Composite Pressure Hull• Deep Water Capability• TMS/LARS• Thrusters • Lights• High-voltage power supplies

Products & Technology Capabilities

ImplementationThree coordinated projects

Double EagleSAROV

AUV 62

Jaguar

GPS, WiFi, Radio Comm

INSDVL

Battery Li-Pol

ROV configuration

AUV configuration

UW ModemFLS/ES

OAS

SS/SAS

Double EagleSAROV

MISSION - PLANNING AND EXECUTION

Missions consist of Actions:• Sequential discrete events

• Well-known transition models

• For example: Transport, Search, Docking

Actions consist of Behaviors:• Parallel continuous control

functions

• Activated during runtime

• Example: AvoidObstacle, GotoWaypoint(W), GetGPS-position

Follow

SearchP

attern

Follow

SeaB

ed

AvoidO

bstacle

Transport Search

GotoW

aypoint(W1 )

AvoidO

bstacle

GetG

PS

-position

1

Transport

GotoW

aypoint(W2 )

AvoidO

bstacle

GetG

PS

-position

4

Docking

Docking

2 3

BEHAVIOR-BASED CONTROLEach behavior can voice its opinion on best course of action

Behavior responses as utility functions

An arbitration mechanism coordinates behaviors to maximize utility

Dynamic activation level and static priority determines behavior influence.

Reference values passed to low-level control system:roll, pitch, heading and speed in x, y, z.

Sensordata Behavior

ArbitrationSensordata

Sensordata

Behavior

Behavior

p1

p2

p3

Priority

Referencevalue

BEHAVIOR-BASED CONTROL: EXAMPLE

1: Track following:Follow track closely for best sonar coverage and platform stability.

2: Waypoint navigation:Ensure that the overall goal of reaching the next waypoint is met

3: Obstacle avoidance:Steer the vehicle clear of obstacles. Activation rises with hazard proximity.

4: Avoid past:Influences the vehicle to favor a new path to avoid getting stuck in circular behaviors

5: Emergency stop:Influences the vehicle cruising speed to decrease with obstacle proximity. Ultimately forces the vehicle to a full stop if to close.

Hazard Risk

Activation level

t

Distance to Obstacle

OBSTACLE AVOIDANCE

Responses are weighted together and the maximum is chosen as the response to send to control system

Behavior response from Track Follow behavior and Obstacle Avoidance weighted together

Autonomous Operation

Survey Operation

Intervention

fibre

Double EagleSAROV Operational Concept

Double EagleSAROV Underwater Release and Docking

Double EagleSAROV

AUTONOMOUS RISER INSPECTIONSonar homing

Streamlined low drag design

Maneuverability

Inspection

Light intervention

Cooperation with Aker Solutions

TransitInertial/Doppler NavigationTerrain Navigtion

Double EagleSAROV

Double EagleSAROV

DockingAssisted LF radioSonar homoing

Docking

Double EagleSAROV

InterventionTethered (onboard TMS, recharging batteries)Untethered (short range acoustic or radio)

Double EagleSAROV

Undocking

Double EagleSAROV

Propulsion Packages

Payloads (samples)

Vehicle Configurations

DE MkII PVDS

DE MkIISAROV

Energy Packages

DE MkIII PVDS

DE MkII MDS

DE MkIII PVDS

DE MkIII

DE MkII

DE MkIIISAROV

Propulsion Packages

Payloads (samples)

Vehicle Configurations

Energy Packages

DE MkII PVDS

DE MkII MDS

DE MkIII PVDS

DE MkIII PVDS

DE MkIII

DE MkII

Propulsion Packages

Payloads (samples)

Vehicle Configurations

Energy Packages

DE MkII PVDS

DE MkII MDS

DE MkIII PVDS

DE MkII SAROV

DE MkIII PVDS

DE MkIII

Bringing it together

Design guidlines

Intefaces• Eternet

• CAN

Software• Midleware

Common user inteface

Benefits• Product Cost reduction

• Logistics, Spares, Training etc

AUV 62Long range, modular and scalable AUV platform

Terrain navigation

SAS

SAS onboard processing

CAD/CAC

ASAT

Saab Seaeye Jaguar

New electric work class ROV

Size and power

New dual high-frequency/highvoltage power distribution system

Simplified control system

2008 2009 2010 2011 2012

ROAD MAP

LowCostSubSys*

TECH TOOL BOX

2013

Pre Hull3000m

Control System

T PowerSystem

BatterySystem

TMSSystem

SonarNavigation

PlanningSystem

System System

System System

360o

360o

360o

System

System

360o

JAGUAR

FALCON

SAROV

SeaeyeRange

SAROV3000

Tech Co-ordination

Tech Co-ordination

DP SYSTEM

AUV 62 AUV 623000

*) - UW conn - Sensors - Thruster - UW Cam - -

Tech sourceTech user

Defense/Maritime Security

DDS

Long range intelligentHybrid AUV/ROV

systems

ROV/AUV Products